//
// Created by zengyuhao on 25-4-29.
//

#ifndef ZORAL_MODEL_DATA_STRUCTURE_H
#define ZORAL_MODEL_DATA_STRUCTURE_H

namespace ZORAL
{
    enum IKSolveType
    {
        ANALYTICAL = 1,
        ANA_SAMPLE = 2,
    };


    struct IKConfig
    {
        IKSolveType type;
        double arm_angle;
        int global_config;
        std::vector<double> q_last;
    };
}


#endif // ZORAL_MODEL_DATA_STRUCTURE_H
